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<div class="title">pino_kin_dyn.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;Pin_KinDyn::Pin_KinDyn(std::string urdf_pathIn) {</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    pinocchio::JointModelFreeFlyer root_joint;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    pinocchio::urdf::buildModel(urdf_pathIn,root_joint,model_biped);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    pinocchio::urdf::buildModel(urdf_pathIn,model_biped_fixed);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    data_biped=pinocchio::Data(model_biped);</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    data_biped_fixed=pinocchio::Data(model_biped_fixed);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    model_nv=model_biped.nv;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    J_l=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    J_r=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    J_hd_l=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    J_hd_r=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    J_base=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    J_hip_link=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    dJ_l=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    dJ_r=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    dJ_hd_l=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    dJ_hd_r=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    dJ_base=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    q.setZero();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    dq.setZero();</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    ddq.setZero();</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    Rcur.setIdentity();</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    dyn_M=Eigen::MatrixXd::Zero(model_nv,model_nv);</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    dyn_M_inv=Eigen::MatrixXd::Zero(model_nv,model_nv);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    dyn_C=Eigen::MatrixXd::Zero(model_nv,model_nv);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    dyn_G=Eigen::MatrixXd::Zero(model_nv,1);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">// get joint index for Pinocchio Lib, need to redefined the joint name for new model</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    r_ankle_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    l_ankle_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    r_hand_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_arm_r_07&quot;</span>);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    l_hand_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_arm_l_07&quot;</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    r_hand_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_arm_r_07&quot;</span>);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    l_hand_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_arm_l_07&quot;</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    r_hip_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    l_hip_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    r_hip_roll_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_hip_r_roll&quot;</span>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    l_hip_roll_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_hip_l_roll&quot;</span>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    r_ankle_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_ankle_r_roll&quot;</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    l_ankle_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_ankle_l_roll&quot;</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    r_hip_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_hip_r_yaw&quot;</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    l_hip_joint_fixed=model_biped_fixed.getJointId(<span class="stringliteral">&quot;J_hip_l_yaw&quot;</span>);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    base_joint=model_biped.getJointId(<span class="stringliteral">&quot;root_joint&quot;</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    waist_yaw_joint=model_biped.getJointId(<span class="stringliteral">&quot;J_waist_yaw&quot;</span>);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// read joint pvt parameters</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    Json::Reader reader;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    Json::Value root_read;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    std::ifstream in(<span class="stringliteral">&quot;joint_ctrl_config.json&quot;</span>,std::ios::binary);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    motorMaxTorque=Eigen::VectorXd::Zero(motorName.size());</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    motorMaxPos=Eigen::VectorXd::Zero(motorName.size());</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    motorMinPos=Eigen::VectorXd::Zero(motorName.size());</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    reader.parse(in,root_read);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;motorName.size();i++){</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        motorMaxTorque(i)=(root_read[motorName[i]][<span class="stringliteral">&quot;maxTorque&quot;</span>].asDouble());</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        motorMaxPos(i)=(root_read[motorName[i]][<span class="stringliteral">&quot;maxPos&quot;</span>].asDouble());</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        motorMinPos(i)=(root_read[motorName[i]][<span class="stringliteral">&quot;minPos&quot;</span>].asDouble());</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    motorReachLimit.assign(motorName.size(),<span class="keyword">false</span>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    tauJointOld=Eigen::VectorXd::Zero(motorName.size());</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;}</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keywordtype">void</span> Pin_KinDyn::dataBusRead(<span class="keyword">const</span> <a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">//  For Pinocchio: The base translation part is expressed in the parent frame (here the world coordinate system)</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">//  while its velocity is expressed in the body coordinate system.</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">//  https://github.com/stack-of-tasks/pinocchio/issues/1137</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">//  q = [global_base_position, global_base_quaternion, joint_positions]</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="comment">//  v = [local_base_velocity_linear, local_base_velocity_angular, joint_velocities]</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    q=robotState.q;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    dq=robotState.dq;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    dq.block(0,0,3,1)=robotState.base_rot.transpose()*dq.block(0,0,3,1);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    dq.block(3,0,3,1)=robotState.base_rot.transpose()*dq.block(3,0,3,1);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    ddq=robotState.ddq;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keywordtype">void</span> Pin_KinDyn::dataBusWrite(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">// NOTE: for the following Jacobians, x=J*dq, both x and dq are defined in the world frame</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    robotState.J_l=J_l;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    robotState.J_r=J_r;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    robotState.J_base=J_base;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    robotState.dJ_l=dJ_l;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    robotState.dJ_r=dJ_r;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    robotState.J_hd_l=J_hd_l;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    robotState.J_hd_r=J_hd_r;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    robotState.dJ_hd_l=dJ_hd_l;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    robotState.dJ_hd_r=dJ_hd_r;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    robotState.dJ_base=dJ_base;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    robotState.fe_l_pos_W=fe_l_pos;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    robotState.fe_r_pos_W=fe_r_pos;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    robotState.fe_l_pos_L=fe_l_pos_body;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    robotState.fe_r_pos_L=fe_r_pos_body;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    robotState.fe_l_rot_W=fe_l_rot;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    robotState.fe_r_rot_W=fe_r_rot;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    robotState.fe_l_rot_L=fe_l_rot_body;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    robotState.fe_r_rot_L=fe_r_rot_body;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    robotState.hip_r_pos_L=hip_r_pos_body;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    robotState.hip_l_pos_L=hip_l_pos_body;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    robotState.hip_r_pos_W=hip_r_pos;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    robotState.hip_l_pos_W=hip_l_pos;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    robotState.hd_l_pos_L=hd_l_pos_body;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    robotState.hd_l_rot_L=hd_l_rot_body;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    robotState.hd_l_pos_W=hd_l_pos;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    robotState.hd_l_rot_W=hd_l_rot;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    robotState.hd_r_pos_L=hd_r_pos_body;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    robotState.hd_r_rot_L=hd_r_rot_body;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    robotState.hd_r_pos_W=hd_r_pos;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    robotState.hd_r_rot_W=hd_r_rot;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    robotState.dyn_M=dyn_M;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    robotState.dyn_M_inv=dyn_M_inv;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    robotState.dyn_C=dyn_C;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    robotState.dyn_G=dyn_G;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    robotState.dyn_Ag=dyn_Ag;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    robotState.dyn_dAg=dyn_dAg;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    robotState.dyn_Non=dyn_Non;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    robotState.inertia = inertia;  <span class="comment">// w.r.t body frame</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">// update jacobians and joint positions</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keywordtype">void</span> Pin_KinDyn::computeJ_dJ() {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    pinocchio::forwardKinematics(model_biped,data_biped,q);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    pinocchio::jacobianCenterOfMass(model_biped, data_biped, q, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">//    pinocchio::computeJointJacobians(model_biped,data_biped,q);</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    pinocchio::computeJointJacobiansTimeVariation(model_biped,data_biped,q,dq);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    pinocchio::updateGlobalPlacements(model_biped,data_biped);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,r_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_r);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,l_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_l);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,r_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_hd_r);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,l_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_hd_l);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,base_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_base);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    Eigen::Matrix&lt;double,6,-1&gt; J_hip_roll_l, J_hip_roll_r;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    J_hip_roll_l=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    J_hip_roll_r=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,l_hip_roll_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_hip_roll_l);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,r_hip_roll_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_hip_roll_r);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">//    J_hip_link=J_hip_roll_l;</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment">//    std::cout&lt;&lt;&quot;J_hip_roll_l&quot;&lt;&lt;std::endl&lt;&lt;J_hip_roll_l&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment">//    std::cout&lt;&lt;&quot;J_hip_roll_r&quot;&lt;&lt;std::endl&lt;&lt;J_hip_roll_r&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    pinocchio::getJointJacobian(model_biped,data_biped,waist_yaw_joint,pinocchio::LOCAL_WORLD_ALIGNED,J_hip_link);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,r_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,dJ_r);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,l_ankle_joint,pinocchio::LOCAL_WORLD_ALIGNED,dJ_l);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,r_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,dJ_hd_r);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,l_hand_joint,pinocchio::LOCAL_WORLD_ALIGNED,dJ_hd_l);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    pinocchio::getJointJacobianTimeVariation(model_biped,data_biped,base_joint,pinocchio::LOCAL_WORLD_ALIGNED,dJ_base);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    fe_l_pos=data_biped.oMi[l_ankle_joint].translation();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    fe_l_rot=data_biped.oMi[l_ankle_joint].rotation();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    hip_l_pos=data_biped.oMi[l_hip_joint].translation();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    fe_r_pos=data_biped.oMi[r_ankle_joint].translation();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    fe_r_rot=data_biped.oMi[r_ankle_joint].rotation();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    hip_r_pos=data_biped.oMi[r_hip_joint].translation();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    base_pos=data_biped.oMi[base_joint].translation();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    base_rot=data_biped.oMi[base_joint].rotation();</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    hd_l_pos=data_biped.oMi[l_hand_joint].translation();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    hd_l_rot=data_biped.oMi[l_hand_joint].rotation();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    hd_r_pos=data_biped.oMi[r_hand_joint].translation();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    hd_r_rot=data_biped.oMi[r_hand_joint].rotation();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="comment">//    hip_link_pos=(data_biped.oMi[l_hip_roll_joint].translation()+data_biped.oMi[r_hip_roll_joint].translation())*0.5;</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="comment">//    hip_link_rot=data_biped.oMi[l_hip_roll_joint].rotation();</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    hip_link_pos=data_biped.oMi[waist_yaw_joint].translation();</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    hip_link_rot=data_biped.oMi[waist_yaw_joint].rotation();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    Jcom=data_biped.Jcom;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    Eigen::MatrixXd Mpj; <span class="comment">// transform into world frame, and accept dq that in world frame</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    Mpj=Eigen::MatrixXd::Identity(model_nv,model_nv);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    Mpj.block(0,0,3,3)=base_rot.transpose();</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    Mpj.block(3,3,3,3)=base_rot.transpose();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    J_l=J_l*Mpj;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    J_r=J_r*Mpj;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    J_base=J_base*Mpj;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    dJ_l=dJ_l*Mpj;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    dJ_r=dJ_r*Mpj;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    J_hd_l=J_hd_l*Mpj;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    J_hd_r=J_hd_r*Mpj;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    dJ_hd_l=dJ_hd_l*Mpj;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    dJ_hd_r=dJ_hd_r*Mpj;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    dJ_base=dJ_base*Mpj;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    J_hip_link=J_hip_link*Mpj;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    Jcom=Jcom*Mpj;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    Eigen::VectorXd q_fixed;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    q_fixed=q.block(7,0,model_biped_fixed.nv,1);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    pinocchio::forwardKinematics(model_biped_fixed,data_biped_fixed,q_fixed);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    pinocchio::updateGlobalPlacements(model_biped_fixed,data_biped_fixed);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    fe_l_pos_body=data_biped_fixed.oMi[l_ankle_joint_fixed].translation();</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    fe_r_pos_body=data_biped_fixed.oMi[r_ankle_joint_fixed].translation();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    fe_l_rot_body=data_biped_fixed.oMi[l_ankle_joint_fixed].rotation();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    fe_r_rot_body=data_biped_fixed.oMi[r_ankle_joint_fixed].rotation();</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    hip_l_pos_body=data_biped_fixed.oMi[l_hip_joint_fixed].translation();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    hip_r_pos_body=data_biped_fixed.oMi[r_hip_joint_fixed].translation();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    hd_l_pos_body=data_biped_fixed.oMi[l_hand_joint_fixed].translation();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    hd_l_rot_body=data_biped_fixed.oMi[l_hand_joint_fixed].rotation();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    hd_r_pos_body=data_biped_fixed.oMi[r_hand_joint_fixed].translation();</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    hd_r_rot_body=data_biped_fixed.oMi[r_hand_joint_fixed].rotation();</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;Eigen::Quaterniond Pin_KinDyn::intQuat(<span class="keyword">const</span> Eigen::Quaterniond &amp;quat, <span class="keyword">const</span> Eigen::Matrix&lt;double, 3, 1&gt; &amp;w) {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    Eigen::Matrix3d Rcur=quat.normalized().toRotationMatrix();</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    Eigen::Matrix3d Rinc=Eigen::Matrix3d::Identity();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordtype">double</span> theta=w.norm();</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">if</span> (theta&gt;1e-8) {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        Eigen::Vector3d w_norm;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        w_norm = w / theta;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        Eigen::Matrix3d a;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        a &lt;&lt; 0, -w_norm(2), w_norm(1),</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;                w_norm(0), 0, -w_norm(0),</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;                -w_norm(1), w_norm(0), 0;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        Rinc=Eigen::Matrix3d::Identity()+a*sin(theta)+a*a*(1-cos(theta));</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    Eigen::Matrix3d Rend=Rcur*Rinc;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    Eigen::Quaterniond quatRes;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    quatRes=Rend;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">return</span> quatRes;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;}</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="comment">// intergrate the q with dq, for floating base dynamics</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;Eigen::VectorXd Pin_KinDyn::integrateDIY(<span class="keyword">const</span> Eigen::VectorXd &amp;qI, <span class="keyword">const</span> Eigen::VectorXd &amp;dqI) {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    Eigen::VectorXd qRes=Eigen::VectorXd::Zero(model_nv+1);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    Eigen::Vector3d wDes;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    wDes&lt;&lt;dqI(3),dqI(4),dqI(5);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    Eigen::Quaterniond quatNew,quatNow;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    quatNow.x()=qI(3);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    quatNow.y()=qI(4);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    quatNow.z()=qI(5);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    quatNow.w()=qI(6);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    quatNew= intQuat(quatNow,wDes);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    qRes=qI;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    qRes(0)+=dqI(0);qRes(1)+=dqI(1);qRes(2)+=dqI(2);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    qRes(3)=quatNew.x();qRes(4)=quatNew.y();qRes(5)=quatNew.z();qRes(6)=quatNew.w();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;model_nv-6;i++)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        qRes(7+i)+=dqI(6+i);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">return</span> qRes;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment">// update dynamic parameters, M*ddq+C*dq+G=tau</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keywordtype">void</span> Pin_KinDyn::computeDyn() {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="comment">// cal M</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    pinocchio::crba(model_biped, data_biped, q);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="comment">// Pinocchio only gives half of the M, needs to restore it here</span></div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    data_biped.M.triangularView&lt;Eigen::Lower&gt;() = data_biped.M.transpose().triangularView&lt;Eigen::Lower&gt;();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    dyn_M = data_biped.M;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="comment">// cal Minv</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    pinocchio::computeMinverse(model_biped, data_biped, q);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    data_biped.Minv.triangularView&lt;Eigen::Lower&gt;() = data_biped.Minv.transpose().triangularView&lt;Eigen::Lower&gt;();</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    dyn_M_inv=data_biped.Minv;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="comment">// cal C</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    pinocchio::computeCoriolisMatrix(model_biped, data_biped, q, dq);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    dyn_C = data_biped.C;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="comment">// cal G</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    pinocchio::computeGeneralizedGravity(model_biped, data_biped, q);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    dyn_G = data_biped.g;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="comment">// cal Ag, Centroidal Momentum Matrix. First three rows: linear, other three rows: angular</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    pinocchio::dccrba(model_biped,data_biped,q,dq);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    pinocchio::computeCentroidalMomentum(model_biped,data_biped,q,dq);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    dyn_Ag=data_biped.Ag;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    dyn_dAg=data_biped.dAg;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="comment">// cal nonlinear item</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    dyn_Non=dyn_C*dq+dyn_G;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="comment">// cal I</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    pinocchio::ccrba(model_biped, data_biped, q, dq);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    inertia = data_biped.Ig.inertia().matrix();</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="comment">// cal CoM</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    CoM_pos = data_biped.com[0];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="comment">//    std::cout&lt;&lt;&quot;CoM_W&quot;&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="comment">//    std::cout&lt;&lt;CoM_pos.transpose()&lt;&lt;std::endl;</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    Eigen::MatrixXd Mpj, Mpj_inv; <span class="comment">// transform into world frame</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    Mpj=Eigen::MatrixXd::Identity(model_nv,model_nv);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    Mpj_inv=Eigen::MatrixXd::Identity(model_nv,model_nv);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    Mpj.block(0,0,3,3)=base_rot.transpose();</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    Mpj.block(3,3,3,3)=base_rot.transpose();</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    Mpj_inv.block(0,0,3,3)=base_rot;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    Mpj_inv.block(3,3,3,3)=base_rot;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    dyn_M=Mpj_inv*dyn_M*Mpj;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    dyn_M_inv=Mpj_inv*dyn_M_inv*Mpj;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    dyn_C=Mpj_inv*dyn_C*Mpj;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    dyn_G=Mpj_inv*dyn_G;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    dyn_Non=Mpj_inv*dyn_Non;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;}</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment">// Inverse kinematics for leg posture. Note: the Rdes and Pdes are both w.r.t the baselink coordinate in body frame!</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<a class="code" href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;Pin_KinDyn::computeInK_Leg(<span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_L, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_L, <span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_R,</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                           <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_R) {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesL(Rdes_L, Pdes_L);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesR(Rdes_R, Pdes_R);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15 waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    Eigen::VectorXd qIk=Eigen::VectorXd::Zero(model_biped_fixed.nv); <span class="comment">// initial guess</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    qIk[22]=-0.1;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    qIk[28]=-0.1;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> eps  = 1e-4;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> IT_MAX  = 100;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> DT   = 7e-1;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> damp = 5e-3;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    Eigen::MatrixXd JL(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    Eigen::MatrixXd JR(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    Eigen::MatrixXd JCompact(12,model_biped_fixed.nv);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    JL.setZero();</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    JR.setZero();</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    JCompact.setZero();</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; errL, errR;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    Eigen::Matrix&lt;double, 12,1&gt; errCompact;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    Eigen::VectorXd v(model_biped_fixed.nv);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    pinocchio::JointIndex J_Idx_l, J_Idx_r;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    J_Idx_l = l_ankle_joint_fixed;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    J_Idx_r = r_ankle_joint_fixed;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="keywordtype">int</span> itr_count{0};</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="keywordflow">for</span> (itr_count=0;; itr_count++)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        pinocchio::forwardKinematics(model_biped_fixed,data_biped_fixed,qIk);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdL = data_biped_fixed.oMi[J_Idx_l].actInv(oMdesL);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdR = data_biped_fixed.oMi[J_Idx_r].actInv(oMdesR);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        errL = pinocchio::log6(iMdL).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        errR = pinocchio::log6(iMdR).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        errCompact.block&lt;6,1&gt;(0,0)=errL;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        errCompact.block&lt;6,1&gt;(6,0)=errR;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordflow">if</span>(errCompact.norm() &lt; eps)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;            success = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keywordflow">if</span> (itr_count &gt;= IT_MAX)</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_l,JL);  <span class="comment">// JL in joint frame</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_r,JR);  <span class="comment">// JR in joint frame</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        Eigen::MatrixXd W;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        W=Eigen::MatrixXd::Identity(model_biped_fixed.nv, model_biped_fixed.nv);   <span class="comment">// weighted matrix</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15 waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;<span class="comment">//        W(16,16)=0.001;  // use a smaller value to make the solver try not to use waist joint</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;<span class="comment">//        W(17,17)=0.001;</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment">//        W(18,18)=0.001;</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        JL.block(0,16,6,3).setZero();</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        JR.block(0,16,6,3).setZero();</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        pinocchio::Data::Matrix6 JlogL;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        pinocchio::Data::Matrix6 JlogR;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        pinocchio::Jlog6(iMdL.inverse(), JlogL);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        pinocchio::Jlog6(iMdR.inverse(), JlogR);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        JL = -JlogL * JL;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        JR = -JlogR * JR;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        JCompact.block(0,0,6,model_biped_fixed.nv)=JL;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        JCompact.block(6,0,6,model_biped_fixed.nv)=JR;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="comment">// pinocchio::Data::Matrix6 JJt;</span></div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        Eigen::Matrix&lt;double,12,12&gt; JJt;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        JJt.noalias() = JCompact * W * JCompact.transpose();</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        JJt.diagonal().array() += damp;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        v.noalias() = - W * JCompact.transpose() * JJt.ldlt().solve(errCompact);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        qIk = pinocchio::integrate(model_biped_fixed,qIk,v*DT);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    }</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    IkRes res;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    res.err=errCompact;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    res.itr=itr_count;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keywordflow">if</span>(success){</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        res.status=0;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        res.status=-1;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    res.jointPosRes=qIk;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;}</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="comment">// Inverse Kinematics for hand posture. Note: the Rdes and Pdes are both w.r.t the baselink coordinate in body frame!</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<a class="code" href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;Pin_KinDyn::computeInK_Hand(<span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_L, <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_L, <span class="keyword">const</span> Eigen::Matrix3d &amp;Rdes_R,</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                            <span class="keyword">const</span> Eigen::Vector3d &amp;Pdes_R) {</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesL(Rdes_L, Pdes_L);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="keyword">const</span> pinocchio::SE3 oMdesR(Rdes_R, Pdes_R);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    Eigen::VectorXd qIk=Eigen::VectorXd::Zero(model_biped_fixed.nv); <span class="comment">// initial guess</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    <span class="comment">// arm-l: 0-6, arm-r: 7-13, head: 14,15 waist: 16-18, leg-l: 19-24, leg-r: 25-30</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    qIk.block&lt;7,1&gt;(0,0)&lt;&lt; 0.433153883479341,    1.11739345867607,    1.88491913406236,</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;            0.802378252758275,    1.22726400279662,    0.0249797771339966,  -0.0875282610654057;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    qIk.block&lt;7,1&gt;(7,0)&lt;&lt;-0.433152540054138,   -1.11739347975224,  -1.88492038240761,</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;            0.802375980602373,   -1.22726323451626,   0.0249795712262396, 0.0875271396314979;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> eps  = 1e-4;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> IT_MAX  = 100;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> DT   = 6e-1;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> damp = 1e-2;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    Eigen::MatrixXd JL(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    Eigen::MatrixXd JR(6,model_biped_fixed.nv);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    Eigen::MatrixXd JCompact(12,model_biped_fixed.nv);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    JL.setZero();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    JR.setZero();</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    JCompact.setZero();</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    Eigen::Matrix&lt;double, 6, 1&gt; errL, errR;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    Eigen::Matrix&lt;double, 12,1&gt; errCompact;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    Eigen::VectorXd v(model_biped_fixed.nv);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    pinocchio::JointIndex J_Idx_l, J_Idx_r;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    J_Idx_l = l_hand_joint_fixed;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    J_Idx_r = r_hand_joint_fixed;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordtype">int</span> itr_count{0};</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <span class="keywordflow">for</span> (itr_count=0;; itr_count++)</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    {</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        pinocchio::forwardKinematics(model_biped_fixed,data_biped_fixed,qIk);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdL = data_biped_fixed.oMi[J_Idx_l].actInv(oMdesL);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        <span class="keyword">const</span> pinocchio::SE3 iMdR = data_biped_fixed.oMi[J_Idx_r].actInv(oMdesR);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;        errL = pinocchio::log6(iMdL).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        errR = pinocchio::log6(iMdR).toVector();  <span class="comment">// in joint frame</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        errCompact.block&lt;6,1&gt;(0,0)=errL;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        errCompact.block&lt;6,1&gt;(6,0)=errR;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        <span class="keywordflow">if</span>(errCompact.norm() &lt; eps)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;            success = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="keywordflow">if</span> (itr_count &gt;= IT_MAX)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;        {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;            success = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        }</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_l,JL);  <span class="comment">// JL in joint frame</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        pinocchio::computeJointJacobian(model_biped_fixed,data_biped_fixed,qIk,J_Idx_r,JR);  <span class="comment">// JR in joint frame</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        pinocchio::Data::Matrix6 JlogL;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        pinocchio::Data::Matrix6 JlogR;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        pinocchio::Jlog6(iMdL.inverse(), JlogL);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        pinocchio::Jlog6(iMdR.inverse(), JlogR);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        JL = -JlogL * JL;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        JR = -JlogR * JR;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        JCompact.block(0,0,6,model_biped_fixed.nv)=JL;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        JCompact.block(6,0,6,model_biped_fixed.nv)=JR;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="comment">// pinocchio::Data::Matrix6 JJt;</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        Eigen::Matrix&lt;double,12,12&gt; JJt;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        JJt.noalias() = JCompact * JCompact.transpose();</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        JJt.diagonal().array() += damp;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        v.noalias() = - JCompact.transpose() * JJt.ldlt().solve(errCompact);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        qIk = pinocchio::integrate(model_biped_fixed,qIk,v*DT);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    }</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    IkRes res;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    res.err=errCompact;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    res.itr=itr_count;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    <span class="keywordflow">if</span>(success){</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        res.status=0;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    }</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keywordflow">else</span>{</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        res.status=-1;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    }</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    res.jointPosRes=qIk;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;}</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="comment">// must call computeDyn() first!</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="keywordtype">void</span> Pin_KinDyn::workspaceConstraint(Eigen::VectorXd &amp;qFT, Eigen::VectorXd &amp;tauJointFT) {</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;motorName.size();i++)</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">if</span> (qFT(i+7)&gt;motorMaxPos(i)){</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            qFT(i+7)=motorMaxPos(i);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            motorReachLimit[i]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;            tauJointFT(i)=tauJointOld(i);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        }</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (qFT(i+7)&lt;motorMinPos(i)){</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;            qFT(i+7)=motorMinPos(i);</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;            motorReachLimit[i]=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;            tauJointFT(i)=tauJointOld(i);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        }</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            motorReachLimit[i]=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    tauJointOld=tauJointFT;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;}</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00015">data_bus.h:15</a></div></div>
<div class="ttc" id="astructPin__KinDyn_1_1IkRes_html"><div class="ttname"><a href="structPin__KinDyn_1_1IkRes.html">Pin_KinDyn::IkRes</a></div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00072">pino_kin_dyn.h:72</a></div></div>
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